CN106516094A

CN106516094A - Deformable aircraft

Info

Publication number: CN106516094A
Application number: CN201611123984.8A
Authority: CN
Inventors: 汪滔; 赵涛; 杜昊; 王铭熙
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2013-01-10
Filing date: 2013-12-25
Publication date: 2017-03-22
Anticipated expiration: 2033-12-25
Also published as: CN106542089B; CN106428541A; CN104853988B; US10046844B2; CN104853988A; EP2780228B1; CN106428541B; CN106628141B; US20170144741A1; US9242714B2; JP6640930B2; EP3254964B1; EP3254964A1; US9284052B1; EP3741674A1; US20170096210A1; CN106542090B; EP2780228A4; EP3730405A1; JP6367232B2

Abstract

A deformable aircraft comprises a central part, at least two deformable frame components, a driving component and a plurality of power devices, wherein the deformable frame components are arranged on the central part; each deformable frame component comprises a near-end part and a far-end part, which are connected with the central part; the driving component is used for driving the at least two deformable frame components to be switched between a first state and a second state; and the power devices are used for moving the unmanned aerial vehicle. The power devices are arranged on the at least two deformable frame components, wherein in the first state, the at least two deformable frame components support the deformable aircraft on one surface, and the far-end parts are positioned under the central part; and in the second state, the far-end parts are positioned above the central part. When the far-end parts are positioned above the central part in the second state, the deformable frame components do not block a loaded functional space connected under the central part.

Description

Variable geometry aircraft

Cross reference

This application claims the Chinese priority applied of CN 201310008317.5 that on January 10th, 2013 submits to.Should Application is listed in herein in full as reference.

Background technology

The unmanned vehicles can be used for performing the military or civilian applications such as monitoring, scouting and exploration.The unmanned vehicles Can be loaded with assembling function, for example for collecting the sensor of environmental data.For example, remotely control unmanned vehicle, including Fixed wing airplane and gyroplane, may be used to provide the Aerial Images of the environment that alternate manner is difficult to enter.

The design of unmanned vehicle needs balance to consider including aircraft size, weight, nominal load load-carrying, energy resource consumption And the multinomial factor such as cost.Additionally, Flight Vehicle Design it is also required to provide enough functional spaces for load operation.At some In the case of, existing unmanned vehicle design blocks visible space due to frame to be caused to provide preferable nothing to load camera Hinder the visual field.

The content of the invention

Based on the deficiency of existing design, need to the existing vehicles, such as unmanned vehicle, in structure and design Further improved.The present invention is provided to the system of variable geometry aircraft, device and method.In certain embodiments, institute State system, device and method and a kind of aircraft that one second state can be converted into from a first state is provided, connect for increasing It is connected to the functional space of the load of the aircraft.Preferably, the system, device, method need not increase aircraft size Or provide extra assembling structure to increase loading functional space for the load.

On the one hand, disclosed herein a kind of variable geometry aircraft, the variable geometry aircraft includes：One central part；Point At least all right one way or the other deformation housing assembly not being arranged on the central part, at least all right one way or the other deformation housing assembly described in each include One close end for being pivoted to the central part and a distal portion；The drive component being arranged on the central part, for driving At least all right one way or the other deformation housing assembly turns to multiple different vertical angles relative to the central part；And described in being arranged on extremely Multiple power set on few all right one way or the other deformation housing assembly, the power set are used to move the variable geometry aircraft.

On the other hand, the invention discloses a variable geometry aircraft.The variable geometry aircraft includes：One central part；Point At least all right one way or the other deformation housing assembly not being arranged on the central part, at least all right one way or the other deformation housing assembly described in each include One close end for being connected to the central part and a distal portion；One drive component, for causing at least all right one way or the other deformation frame Component is changed between a first state and one second state；And be arranged on multiple at least all right one way or the other deformation housing assembly Power set, the power set are used to move the variable geometry aircraft, and wherein first state includes the power set position Below the central part, and the second state includes that the power set are located above the central part.

It yet still another aspect, the invention discloses a variable geometry aircraft, the variable geometry aircraft includes：One to be connected to one negative The central part of load；At least all right one way or the other deformation housing assembly being separately positioned on the central part, at least two deformables described in each Include a close end and a distal portion in housing assembly, the close end is connected to the central part；It is arranged on the center A drive component in portion, for so that at least all right one way or the other deformation housing assembly is between a first state and one second state Conversion, wherein under first state, variable geometry aircraft described at least all right one way or the other deformation frame modular support rests in a surface, Under second state, increase the functional space of the load；And the multiple power dresses being arranged at least all right one way or the other deformation housing assembly Put, the power set are used to move the variable geometry aircraft.

In certain embodiments, the variable geometry aircraft is unmanned vehicle.

In certain embodiments, it is described at least it is all right one way or the other deformation housing assembly include a main shaft and an at least countershaft, it is described extremely A few countershaft extends parallel to the main shaft, and the main shaft and an at least countershaft are pivoted to the central part respectively, wherein The main shaft and an at least countershaft are connected with each other, so that driving of the drive component to the main shaft is produced to institute State the corresponding driving of an at least countershaft.

In certain embodiments, the drive component includes a Linear actuator, at least all right one way or the other deformation frame described in each The a part of of component is connected with the Linear actuator.The Linear actuator includes a screw rod and nut body, each institute The part being connected with the Linear actuator for stating at least all right one way or the other deformation housing assembly is connected with the nut.

In certain embodiments, each the plurality of power set includes a rotor.The rotor relative to it is described can Morphing aircraft is horizontally arranged.

In certain embodiments, the variable geometry aircraft further includes a receptor, and the receptor is used to receive User instruction, the user instruction are used to control one or more drive components and the plurality of power set.The user refers to Order can be transferred from a remote terminal.

In certain embodiments, the variable geometry aircraft further includes the load for being connected to the central part.Institute Stating load may include a video capturing device.

In certain embodiments, the drive component can be used for pivot described at least two housing assemblies the first vertical angle with Change between second vertical angle.In the first vertical angle, it is described at least it is all right one way or the other deformation housing assembly can relatively described central part in Under angle, in the second vertical angle, at least all right one way or the other deformation housing assembly can relatively described central part in angle upwards.

In certain embodiments, the first rank that at least all right one way or the other deformation housing assembly is operated in the variable geometry aircraft Section is changed to the first state, and the second stage in variable geometry aircraft operation is changed to the second state.The behaviour The first stage of work may include that the variable geometry aircraft is flown in the air, and the second stage of the operation may include described variable Shape aircraft flies away from a surface and/or lands in a surface.

In certain embodiments, the load includes a video capturing device, and the functional space includes that the image is obtained Take the accessible visual field of device.

In certain embodiments, described in each, at least all right one way or the other deformation housing assembly includes a support component, for supporting The variable geometry aircraft rests against a surface.

In certain embodiments, in first state, at least relatively described central part of all right one way or the other deformation housing assembly in Under angle, and in the second state, the relatively described central part of at least all right one way or the other deformation housing assembly is in angle upwards.

It yet still another aspect, the present invention provides a method for being used to control a variable geometry aircraft.Methods described includes：There is provided One above-described variable geometry aircraft；Drive the drive component being arranged on the central part to pivot described at least two Housing assembly is relative to the central part to multiple different vertical angles.

It yet still another aspect, the present invention provides a method for being used to control a variable geometry aircraft.Methods described includes：There is provided One the above variable geometry aircraft；Driving is arranged on the drive component on the central part so that at least two machines Frame component is changed between the first state and a second state.

It should be understood that multiple different aspects of the present invention can be understood individually, jointly or in combination with one another.This place The each aspect of the present invention may be used on the movable fixture of any special application described below or any other type. Although the described system in this place, apparatus and method are often referred to aircraft within a context, this is not intended to limit, under Described embodiment can be using to any suitable mobile device.This place with regard to aircraft any description can using to it is any can Mobile device, such as any vehicles.Additionally, the system, device and method described in this place context is applied in aviation In movement, other kinds of movement is also applied to, such as movement in ground or the water surface, moved under water or space movement.

The other objects and features of the invention can be better understood with reference to description, claims and accompanying drawing.Quote and add Enter

The all publications, patents and patent applications referred in this specification are incorporated in herein as reference, each Individually open source literature, patents and patent applicationss also by clearly, individually as reference in this specification.

Description of the drawings

The new feature of the present invention is especially embodied in following claims item.To more fully understand the spy of the present invention Seek peace beneficial effect, can be with reference to reference to the embodiment and corresponding accompanying drawing in following specific embodiments.

Fig. 1 is figure of the deformable unmanned plane of embodiment under state of flight.

Fig. 2 is the partial enlarged drawing in the II portions of the deformable unmanned plane shown in Fig. 1 of embodiment.

Fig. 3 is the figure of deformable unmanned plane shown in Fig. 1 of embodiment under landing state.

Fig. 4 is the side view of deformable unmanned plane shown in Fig. 1 of embodiment under landing state.

Fig. 5 is figure of the deformable unmanned plane of another embodiment under state of flight.

Fig. 6 is the partial enlarged drawing in the VI portions of Fig. 5 of embodiment.

Fig. 7 is the side view of deformable unmanned plane shown in Fig. 5 of embodiment under state of flight.

Fig. 8 is the figure of deformable unmanned plane shown in Fig. 5 of embodiment under landing state.

Fig. 9 is also the figure of deformable unmanned plane shown in Fig. 5 of embodiment under landing state.

Figure 10 is the side view of deformable unmanned plane shown in Fig. 5 of embodiment under landing state.

Figure 11 is figure of the deformable unmanned plane of a further embodiment under landing state.

Figure 12 is the partial enlarged drawing in the XI portions of Figure 11 of embodiment.

Figure 13 is also the figure of deformable unmanned plane shown in Figure 11 of embodiment under landing state.

Figure 14 is the side view of deformable unmanned plane shown in Figure 11 of embodiment under landing state.

Figure 15 is the aircraft for being equipped with carrier and load of embodiment.

Figure 16 is the system module schematic diagram for controlling aircraft of embodiment.

Specific embodiment

The present invention is provided to the system of variable geometry aircraft, device and method.The system, device and method can make to fly Row device is in various states down conversion.Best allocation of each state corresponding to a kind of specific function of the aircraft.For example, A kind of state can be that the load for being connected to the aircraft increases functional space, for example to be assemblied in the carry-on camera Expand the visual field.When needed, there is a kind of state provide for the aircraft when the aircraft rests against a surface to prop up Support, for example, provide support for the aircraft by the support component on ground is flown away from for lifting the aircraft.

On the one hand, the present invention provides a variable geometry aircraft with following one or more features.In one embodiment, One variable geometry aircraft includes：One central part；At least all right one way or the other deformation housing assembly being separately positioned on central part, described in each At least all right one way or the other deformation housing assembly is including the close end and a distal portion for being as pivotally connected to the central part；One is arranged Drive component on the central part, the drive component are used to drive at least all right one way or the other deformation housing assembly relative to institute State central part and turn to multiple different vertical angles；Multiple power set being arranged at least two housing assemblies, it is described Power set are used to move the variable geometry aircraft.

A kind of variable geometry aircraft of the present invention may include a central part, and be separately positioned on the central part At least two housing assemblies.Multiple power set are can mount on the deformable housing assembly so as to be connected to the central part. The power set can be used to making the variable geometry aircraft take off, land, hover, and in the air with regard to three translation freedoms And three rotary freedom motions.The power set may be installed the arbitrarily suitable portion on the deformable housing assembly Position, for example distal portion of the deformable housing assembly or near the distal portion.

The close end of the deformable housing assembly can be pivoted to the central part, therefore the housing assembly can be caused to lead to Cross and rotate relative to the central part and deform.For example, in certain embodiments, the deformable machine housing assembly can phase Multiple vertical angle (examples are switched to the central part：Shown in Fig. 4 from the vertical angle measured by lines 51 50).The deformable machine The deformation of frame component may be disposed at the central part and be connected to an appropriate drive component driving of the housing assembly.It is preferred that Ground, methods described can allow to adjust the vertical of the housing assembly in the operating process of the variable geometry aircraft as needed Angle.

In another embodiment, the present invention provides a variable geometry aircraft with following feature.The deformable flight Device includes：One central part for being connected to a load；At least two housing assemblies being respectively assembled on the central part, it is each described At least two housing assemblies include a close end for being pivoted to the central part and a distal portion；One is assemblied on the central part Drive component, the drive component are used to drive at least two housing assemblies to pivot between the first state and a second state, Wherein under first state, at least two housing assemblies can support the variable geometry aircraft and stop on a surface, and described the Two-state can increase the functional space of the load；And the multiple power dresses being arranged at least all right one way or the other deformation housing assembly Put, the power set are used to move the variable geometry aircraft.

Above-mentioned central part, deformable housing assembly, power set and drive component are equally applicable in the present embodiment.Institute Stating housing assembly can be according to expecting to can be deformed to a first state, to support the variable geometry aircraft to rest in a surface (example Such as：Ground).For example, the deformable housing assembly may include it is multiple can support the variable geometry aircrafts support components with So that the central part does not contact the surface.

Under some situations, an interchangeable state may be more useful.For example, the central part of the variable geometry aircraft It is variable that a load is more installed.It is described to load the arbitrarily suitable position that may be connected to the central part, for example, the central part Top, bottom, above, the back side or side.The load can be used to perform a function or operation.The function or operation may Need a specific functional space.The functional space can be for example, take up room, impacted space, working place, Or during the load operation, need the space for using.In some situations, the functional space may be by described variable The part obstruction of shape aircraft.For example, when in said first condition, the deformable housing assembly may be extended to The functional space, so as to disturb the operation of the load.

Correspondingly, the deformable housing assembly can be changed to can be deformed to one second state, and second state can Increase the functional space of the load so that or strengthen it is described load perform its function.Additionally, the drive component can quilt Be changed to drive the deformable housing assembly to change between the first state and the second state, so as to optimize it is described can The structure of morphing aircraft is multi-functional to realize.

In another embodiment, the present invention provides the another optional variable geometry aircraft with following feature.It is described can Morphing aircraft includes：One central part for being connected with a load；At least all right one way or the other texturing machine being separately positioned on the central part Frame component, described in each, at least all right one way or the other deformation housing assembly is including close end and the distal end for being connected to the central part Portion；One is arranged on the drive component on the central part, and the drive component is used to drive at least all right one way or the other deformation frame group Part is pivoted between the first state and a second state；The multiple power dresses being arranged at least all right one way or the other deformation housing assembly Put, the power set are used to move the variable geometry aircraft, wherein the power set are arranged under the first state Below the central part, under second state, the power set are arranged on above the central part.

Above-mentioned central part, housing assembly, power set and drive component are equally applicable to the embodiment.The deformable machine Frame component can be changed to change between the first state and a second state so that the power set are in the first shape according to expectation It is located at below the central part, in the second condition above the central part under state.Preferably, methods described can be described Adjust the height of the power set in the operating process of variable geometry aircraft as needed.

On the other hand, the present invention provides a method for controlling a variable geometry aircraft.In one embodiment, methods described Including a variable geometry aircraft is provided, the variable geometry aircraft includes：One central part；It is separately positioned on the central part At least all right one way or the other deformation housing assembly, described in each, at least all right one way or the other deformation housing assembly is connected to the near of the central part including one End and a distal portion；One is arranged on the drive component on the central part, and the drive component is used to order about described at least two Deformable housing assembly is pivoted between multiple different vertical angles relative to the central part；And to be arranged on described at least two variable Multiple power set on shape housing assembly, the power set are used to move the variable geometry aircraft.Methods described includes The drive component of the drive installation on the central part is ordering about at least all right one way or the other deformation housing assembly relative to described Central part is rotated between multiple different vertical angles.

A kind of method of control variable geometry aircraft includes providing a variable geometry aircraft, and the variable geometry aircraft includes The housing assembly of a central part is connected to, as described above, the deformable housing assembly can turn between multiple different vertical angles Change.Methods described can be by a driver element (for example：Motor or engine) drive the drive component to order about the deformable Housing assembly is changed between multiple different vertical angles.The driving of the drive component can be according to the variable geometry aircraft State (for example, height, longitude or latitude) is carried out automatically based on user instruction.Methods described can be used for, such as, it is described can The vertical angle of the deformable housing assembly is adjusted in the operating process of morphing aircraft.

In yet, the present invention provide it is a kind of control variable geometry aircraft method, methods described include as Lower step.Methods described includes providing a variable geometry aircraft.The variable geometry aircraft includes：One is connected in a load Center portion；At least all right one way or the other deformation housing assembly being separately positioned on the central part, at least all right one way or the other deformation frame group described in each Part is including the close end and a distal portion for being pivoted to the central part；One is arranged on the drive component on the central part, The drive component is used to drive at least all right one way or the other deformation housing assembly to rotate between the first state and a second state, wherein Under the first state, at least all right one way or the other deformation frame supports the variable geometry aircraft to rest in a surface, second shape State increases the functional space of the load；And the multiple power set being arranged at least all right one way or the other deformation frame, it is described dynamic Power apparatus are used to move the variable geometry aircraft.Methods described includes driving the driving group being arranged on the central part Part is changed between the first state and the second state with ordering about at least two housing assemblies.

A kind of method for controlling a variable geometry aircraft includes providing a variable geometry aircraft, as described above, described Variable geometry aircraft includes the deformable housing assembly that can be changed between the first state and a second state, the first state Support the variable geometry aircraft and rest in a surface, second state increases the functional space of a load.Methods described includes The drive component is driven by appropriate driving means with order about the housing assembly first state and the second state it Between deform.For example, when the variable geometry aircraft takes off from a surface or lands in a surface, the drive component can be driven It is dynamic to be changed to the first state with ordering about the housing assembly.When the variable geometry aircraft is in the suitable operation load State when, for example, awing, the drive component can order about the housing assembly and change to second state.

In another embodiment, the method that the present invention provides one variable geometry aircraft of another interchangeable control, the side Method comprises the steps.Methods described includes providing a variable geometry aircraft, and the variable geometry aircraft includes：One is connected to one The central part of load；At least all right one way or the other deformation housing assembly being separately positioned on the central part, each described at least two is variable Shape dress is put including the close end and a distal portion for being pivoted to the central part；One is arranged on the driving group on the central part Part, the drive component are changed between the first state and a second state for ordering about at least all right one way or the other deformation housing assembly； The multiple power set being arranged at least two housing assemblies, the power set can be used to move the deformable flight Device, wherein first state include that the power set are located at below the central part, and second state includes the power dress Above the central part.Methods described includes driving the drive component being arranged on the central part to order about State at least all right one way or the other deformation housing assembly to change between the first state and a second state.

A kind of method of control variable geometry aircraft may include to provide a variable geometry aircraft, as described above, described variable Shape aircraft includes the housing assembly that can be changed between the first state and a second state, the power dress under the first state Below the central part, under second state, the power set are located above the central part.Methods described can The drive component is driven the housing assembly is ordered about in first state and the second state including by an appropriate driving means Between change.As it was previously stated, the driving of the drive component can carry out or respond user instruction carrying out automatically.Methods described can be answered For the height of the power set for example, is adjusted in the operating process of the variable geometry aircraft.

Referring to figs. 1 to shown in Fig. 4, a deformable unmanned vehicle (transformable unmanned aerial Vehicle, UAV) 100 a central part 10 is may include, the deformable housing assembly 20 being separately positioned on the central part 10.It is many Individual power set 30 are separately positioned on the housing assembly 20." propulsion bracing frame ", " propulsion support meanss ", " variable shape dress Put ", and " deformable structure " can also be used for referring to the deformable housing assembly 20.

The central part 10 of the UAV 100 can be used to support a load, for example a carrier and/or have elsewhere in detail The load of explanation.It is described to load the arbitrarily suitable position that may be connected to the central part 10, for example, the bottom of the central part 10 Or downside.The connection can be fixedly connected, or the load can be moved relative to the central part.

The connection load can be a load for being used for one function of execution, for example, a sensor, an emitter, instrument, Instrument, manipulator, or other functions device.For example, the load can be a video capturing device.In some situations, institute State the camera that video capturing device can be directed towards below the central part 10.The camera can be rotated relative to the central part 10 (for example, by a carrier or other mounting platforms) is obtaining the image at multiple visual angles.The camera load can be applicable to which In the load device of his type.

The load is associated with a functional space.As it was previously stated, the functional space can be take up room, it is impacted Space, the space used during working place, or the load operation.For example, by the functional space of sensor, The sensor can collect data.In some situations, the functional space of a camera or other video capturing devices Can be the without hindrance visual field or visual angle of the camera.For instrument, instrument or manipulator, the functional space can be nothing The working range or moving range of obstruction.For example, the functional space of an emitter (such as lighting source) can be connect Receive the without hindrance region of the emitting substance (such as lighting source) of the emitter.One load the functional space can be Fixed dimension is variable-sized.In certain embodiments, the functional space can increase or reduce.For example, the function Space can be increased or be reduced by the deformation of the UAV 100, can join as discussed in more detail below.

The power set 30 can be used to make the UAV 100 take off, land, hover, and translate with regard to three in the air Degree of freedom and three rotary freedom motions.In certain embodiments, the power set 30 may include one or more rotations The wing.The rotor may include one or more rotor blades for being connected to a rotating shaft.The rotor blade or rotating shaft can be fitted by one When drive mechanism drive and rotate, such as motor.Although the power set 30 of the unmanned vehicle 100 are described as including 4 rotors, but other appropriate quantity of power set, type or deploying are all enforceable.For example, the rotor can be with It is one, two, three, four, five, six, seven, eight or more.The rotor can be relative to the UAV 100 Level, vertical or other any appropriate angles are arranged.The angle of the rotor can be fixed or variable.It is oppositely arranged The distance between described rotorshaft can be any appropriately distance, e.g., less than equal to 2 meters, or be less than or equal to 5 meters.It is optional Ground, the distance can between 40 centimetres to 1 meter, from 10 centimetres to 2 meters, or from 5cm to 5 meter.The power Device 30 can be by arbitrarily appropriate Motor drive, such as direct current generator (example：Brush motor or brushless electric machine) or alternating current generator. In certain embodiments, the motor can be configured to drive a rotor blade.

The deformable housing assembly 20 can be used to connect the power set 30 to the central part 10.Each frame group The adjacent portion of part 20 may be connected to the central part 10 respectively.The power set 30 can mount to the deformable housing assembly The distal end or the position near the distal end at 20 arbitrarily suitable position, such as the deformable housing assembly 20.Alternatively, The power set 30 may be mounted at the near-end or the position near the near-end.The power set 30 may be mounted at Or the close distal end about 1/10,1/5,1/4,1/3,1/2,3/4,2/3,4/5, or deformable housing assembly length described in 9/10 Position.In certain embodiments, the UAV 100 may include any an appropriate number of deformable housing assembly 20, for example, 2 It is individual, 3,4 or more.In certain embodiments, the UAV 100 includes at least all right one way or the other deformation housing assembly 20.It is described can Deformation housing assembly 20 symmetrically or asymmetrically can be arranged around the central part 10.Each deformable housing assembly 20 can use In the single power set of support or multiple power set.The power set 30 can averagely deploying in the deformable frame group On part 20.Alternatively, each deformable housing assembly 20 can include the power set 30 of varying number.

In certain embodiments, the deformable housing assembly 20 can pass through a cross bar or other similar supporting constructions Support the power set.For example, a deformable housing assembly 20 may include that one is arranged on the remote of the deformable housing assembly 20 End or the cross bar near the distal portion.The cross bar can the arbitrarily appropriate angle of the deformable housing assembly 20 relatively set Put, for example, extend vertically from the deformable housing assembly 20 or approximately perpendicular direction extends.The cross bar can pass through described Any part of cross bar is connected to the deformable housing assembly 20, such as midpoint of described cross bar or the close cross bar midpoint Part.The cross bar can be used to support multiple power set 30 (for example, 1,2,3,4 or multiple power set). The power set 30 may be installed any suitable position of the cross bar.For example, the power set 30 may be provided at or lean on The end of the nearly cross bar.The power set 30 can be symmetrically disposed on the cross bar, such as the often end of described cross bar is each One power set is set.Alternatively, the power set 30 asymmetrically can be arranged on the cross bar.

Alternatively, one or more deformable housing assemblies 20 may include a support component 40.The support component 40 can Being linear, Curved or curved configuration.In certain embodiments, each deformable housing assembly 20 includes that one is corresponding Support component 40.The support component 40 can be used to supporting the UAV 10 a surface (such as before take-off or take off after). For example, each support component 40 can single-point or two, three, four or the more points contact surface.Alternatively, the support component 40 Can be used to land or take off UAV 100 described in front support in a surface as the UAV 100.The support component 40 can be located at institute State the arbitrarily suitable position of deformable housing assembly 20, for example, or near the distal portion or close end.The support component 40 may be provided at or near variable described in the distal portion about 1/10,1/5,1/4,1/3,1/2,3/4,2/3,4/5 or 9/10 The position of shape aircraft frame length.In certain embodiments, the support component 40 may be provided at the deformable frame group Part 20 on the position of the power set 30, such as below the power set 30.The support component 40 may be connected to The power set 30.The support component 40 is static.Alternatively, the support component 40 can relatively described deformable Housing assembly 20 is movable, and for example slip, rotation, flexible, folding, pivot, extension, indentation and other similar fashions are moved.

The deformable housing assembly 20 can be changed under multiple different conditions, such as 2,3,4,5,6 or More different conditions.The UAV 100 is designed to change under multiple different conditions according to a fixed order.Can Alternatively, the UAV 100 can be changed with random order under multiple different conditions.One second shape is transformed into from a first state State may include multiple centres or transitive state.The UAV 100 can stop deforming in an intermediateness, or only in a State Transferring Stop deformation when completing.The UAV 100 can be maintained at a certain state with indefinite duration, it is also possible to only keep one special in a certain state Fixed time span.Some states are used only for the moment in 100 operating process of the UAV (for example, as the UAV 100 when parking on the ground, in take-off process, in landing mission, or in flight course).Alternatively, some states can also For any stage in 100 operating process of the UAV.For example, the feelings more satisfactory for the deformable housing assembly 20 Condition assumes that first stage in an operating process (for example before, landing state is used to take off or land after) using one first shape A second stage (for example, state of flight is used in flight course) in state and an operating process is using one second state.Institute Any number of state can be adopted in stating the operating process of UAV 100.

In certain embodiments, each the plurality of state is that the UAV 100 provides a difference in functionality.For example, first State can cause the UAV 100 to be supported in a surface by the support component 40.In other situations, first shape State can be landing state or surface contact conditions, and in the landing state or surface contact conditions, the UAV 100 is supported While a surface, the load or central part 10 do not contact the surface.Second state can increase and be coupled to the center The functional space of the load in portion 10.For example, the second state can be a state of flight, and second state can reduce described Interference of one or more elements of UAV 100 to the loading functional.Changing 100 to the second states of the UAV can be by institute State deformable housing assembly 20 visual field of load camera is removed so as to provide a clog-free visual angle (for example, 360 degree of visual angles) Or expand the visual field.In another embodiment, changing 100 to the second states of UAV can include the movement deformable frame Component 20 is so that the deformable housing assembly 20 no longer hinders the sensor or emitter of one or more types, or subtracts The interference of few sensor or emitter to one or more types.As the alternative mode of above-described embodiment or its combination, Effective manipulation space of the mechanical arm that can increase the downside for being connected to the central part 10 is changed to the second state.By turning The state of changing realizes that the increase of the functional space can be one or more of following species：Obstacle is removed from the functional space Thing, changes the shape of the functional space, changes the shape of a part of the UAV 100, change the load position or Direction.In some situations, in a first state, the functional space of the load may at least by one of the UAV 100 Divide and hinder (for example, being hindered by the deformable housing assembly 20), and change to the second state, the obstruction can be removed.

The deformation of the deformable housing assembly 20 can include or many of the mobile deformable housing assembly 20 Individual part, for example, translation, rotation, folding, expansion, flexible, extension, indentation etc. are mobile.The deformation can include a kind of single The movement of type, or the movement of number of different types.Mutually can interconnect between multiple deformable housing assemblies 20 Connect so that multiple deformable housing assemblies 20 can be while change, between multiple deformable housing assemblies 20 Separately can change.The conversion can be all deformable housing assemblies 20 of conversion, or only converter section Divide deformable housing assembly 20.

In certain embodiments, multiple deformable housing assemblies 20 are pivoted to the central part 10, so that The deformable housing assembly 20 realizes conversion by the rotation (can reach the rotation of three axles) relative to the central part 10.Example Such as, the deformable housing assembly 20 can be switched to multiple different vertical angles by the central part 10 relatively.One vertical angle can It is defined as the part of the deformable housing assembly 20 relative to angle 50 formed by the lines 51, as shown in Figure 4.Institute Deformable housing assembly 20 is stated pivotably to the vertical angle less than 90 degree so that the distal portion is probably located at the center Above portion 10 (referred to hereinafter as " up ", as shown in Figure 1).In some situations, the deformable housing assembly 20 is pivotably extremely Vertical angle more than 90 degree is so that (referred to hereinafter as " in lower section ", the distal portion is probably located at the lower section of the central part 10 As shown in Figure 3 and Figure 4).The vertical angle pivotably to 90 degree of the deformable housing assembly 20 is so that the distal portion is big Cause concordant with the central part 10.Relative to the central part 10 " up ", " in lower section ", may be defined as with " concordant " relative At the vertical centre of the mass centre of the central part 10 or the central part vertical centre point " up ", " under Side ", with " concordant " (such as along lines 51).The pivotable vertical angle range of the deformable housing assembly 20 be 0 ° extremely 180 °, 0 ° to 90 °, 90 ° to 180 °, 15 ° to 165 °, 20 ° to 160 °, 30 ° to 150 °, or 45 ° to 135 °.The deformable machine Frame component 20 can be changed arbitrarily angled to above-mentioned scope, it is also possible to only change the special angle to the scope. The vertical angle includes that a vertical angle can be so that the deformable housing assembly 20 supports the UAV 100 to rest in one Surface, and/or vertical angle can increase the functional space (ginseng is as previously mentioned) of connected load.

In some situations, 10) position of the distal portion (for example, up, in lower section, flushes in the central part Can change in the state of difference, potentially independently of the vertical angle of deformable housing assembly as above 20, so that institute State distal portion any state can be located at relative to the central part 10.For example, in the first state, the distal portion can substantially position In 10 lower position of the central part, in the second condition, the distal portion can be located substantially at 10 top position of the central part. The position in said distal ends portion can be independently of the vertical angle of the deformable housing assembly 20.On the contrary, the deformable frame group Part 20 can be switched to the vertical angle less than 90 degree in the first state, and the vertical angle more than 90 degree is switched in the second state. In the above-described state, the distal portion of the deformable housing assembly 20 can be located at the top of the central part 10, lower section or with institute State central part 10 concordant, or the combination of this several position.In other cases, being transformed into the second state from first state may The distal portion that the deformable housing assembly 20 can be caused is higher than the central part 10, while the deformable housing assembly 20 Vertical angle may reduce.On the contrary, being transformed into the second state from first state may cause the deformable housing assembly 20 Distal portion be less than the central part 10, while the vertical angle of the deformable housing assembly 20 may increase.

And, the deformable housing assembly 20 can be by the translation relative to the central part 10 (along the flat of three axles Move), fold, launch, it is flexible, extend or conversion is realized in indentation.For example, the deformable housing assembly 20 can be relative in described Center portion 10 is slided up or down, or is outwardly or inwardly slided.In some cases, the deformable housing assembly 20 may include One or more it is extensible or retract telescopic element with stretch or shrink the deformable housing assembly 20 one or more The length of part, width, and/or height.As described above, the conversion of multiple deformable housing assemblies 20 can mutually completely solely On the spot occur.Alternately, one or more conversions can be associated so that a conversion produces one corresponding second Conversion.

In certain embodiments, one or more parts of the deformable housing assembly 20 can be with the deformable frame The miscellaneous part of component is changed independently of each other.For example, the distal portion can be changed independently of the close end, instead It is as the same.Different types of conversion (for example, rotating, translation is folded, and is launched, and is stretched, and is extended or indentation) can be applicable to it is described can The different parts of deformation housing assembly 20.The different parts of the deformable housing assembly 20 can carry out turning simultaneously or in order Change.Particular state may need all parts of the deformable housing assembly 20 all to be changed.Alternately, particular state The lower section components that may need only to the deformable housing assembly 20 are changed.

The conversion of the UAV 100 can by be arranged on the UAV 100 (for example, on the central part 10) one (for example, system is 300) controlling for individual appropriate control system.In certain embodiments, the control system can automatically control institute The conversion of UAV 100 is stated, based on following one or more：The position of the UAV, the direction of the UAV, the UAV's are current The sensor of state, time or the UAV or the data of the sensed acquisition of load.For example, the UAV 100 may include one or Multiple sensors are used to sense when the UAV 100 will land (for example, according to position, speed, and/or acceleration), institute State control system and can automatically control the UAV 100 and change to landing state.Similarly, the UAV 100 may include one or Multiple sensors are used to sense when the UAV 100 reaches the height for being adapted to take photo by plane, and the control system can automatically control institute State UAV 100 to change to state of flight to increase the functional space of load camera.

Alternatively or its combination, the control system may include a receptor being arranged on the UAV 100 or Other communication modules, instruct for receive user, for example, described elsewhere to refer to from a remote terminal reception user Order.It is used to control a drive component by the user instruction received by the receptor, the drive component is used to drive The deformable housing assembly 20 (for example, by the control of an appropriate driver element, such as has in greater detail below The driver element is 11).For example, the instruction may include to be turned on and off the instruction of the driver element, by the driving Unit drives the instruction for making moving cell (for example, rotating in clockwise and counterclockwise directions), or maintains the drive component Current state instruction.The instruction can cause the UAV 100 to change to a certain particular state or maintain current state. In certain embodiments, the conversion of the UAV 100 can be indirect to the user instruction of another function of the UAV by launching Triggering.For example, the user instruction for controlling the landings of the UAV 100 can automatically so that the UAV 100 is transformed into landing shape State.Alternatively, the user instruction for starting filmed image for controlling load camera can automatically so that the UAV 100 is changed to can Increase the state in the camera function space.

The UAV 100 can utilize the shape of the central part 10 and any suitable conversion of the deformable housing assembly 20 State.For example, the conversion of the deformable housing assembly 20 can be suitable by one by the driver element 11 of the central part 10 Drive component (alternatively referred to as changing drive component) start.The driver element 11 and drive component may be coupled to the central part In 10 fixing device 17.One single driver element and drive component are can be used to while changing the institute of the central part 10 There is deformable housing assembly 20.For example, a single motor or other suitable actuator can be used to change the UAV 100 Multiple or whole housing assemblies 20.Alternately, multiple driver elements and drive component can be used to respectively to change it is each can Deformation housing assembly 20.Any suitable drive mechanism can be used for the driver element 11, and for example (example has brush to direct current generator Or brushless), alternating current generator, motor, servomotor, or other analog.The drive component can be using any suitable Driving element or driving element combination changing the UAV 100.The suitable drive mechanism for illustrating includes gear, turns Axle, pulley, screw rod, nut shaft, belt, cable, wheel, axle, or its analog.In certain embodiments, the drive component May include the Linear actuator driven by the driver element 11, the Linear actuator driver element 11 relatively makees line Property move back and forth.For example, as shown in Fig. 2 the drive component can be screw-and-nut mechanism, including a screw rod 13 and Nut 15.The nut 15 can surround the axle of the screw rod 13 and be positioned and connected to the screw rod 13 (for example, by screw flight Or interference fit).The driver element 11 can be fixed to one end of the screw rod 13.Therefore, the driver element 11 can drive The screw rod 13 rotates (example, clockwise or counterclockwise) so that the nut along screw rod 13 length direction upwards or Move down.

Alternately or its combination, the drive component can adopt worm gear drive mechanism, worm gear drive mechanism bag Include a worm screw and a turbine gear (not shown).The worm screw may be connected to the turbine gear, so that described drive list Unit 11 drives the worm screw that the rotation of corresponding turbine gear is driven when rotating.The turbine gear may be connected to the screw rod 13 For driving the screw rod 13 (example, by the female thread of the worm screw).Advantageously, the worm gear drive mechanism can provide more Smooth driving transmission, improves and drives reliability.

The fixing device 17 any can be suitable for being engaged with the driver element 11 and the drive component Structure, such as framework, half framework, or hollow structure.Although the fixing device 17 is described as a quilt in Fig. 1 to Fig. 4 The framework of the general hexagon that the screw rod 13 and nut 15 are divided into two, but the fixing device 17 can be any being adapted to Two dimension or 3D shape.In certain embodiments, the fixing device 17 includes a top 171 and a bottom 173, wherein The top 171 is connected to the upper end of the screw rod near the driver element 11, and the bottom 173 is connected to the screw rod 13 bottom is away from the driver element 11.Alternatively, the upper and lower 171,173 can pass through any appropriate bearing (example, angular contact bull bearing) or swivel joint are connected to the screw rod 13 so that screw rod 13 can relatively described fixed dress Put 17 rotations.

Any appropriate state of the deformable housing assembly 20 can be with reference to the upper fixing device 17, driver element 11 And the suitable embodiments of drive component.In certain embodiments, as shown in figures 1-4, each deformable housing assembly 20 can Including a main shaft 21 and a countershaft 23.Alternatively, the countershaft 23 can relatively described 21 parallel or substantially parallel setting of main shaft.Institute State drive component and may be operably coupled to the main shaft 21 and/or countershaft 23, so that the deformable housing assembly 20 can Changed under the start of the main shaft 21 and/or countershaft 23.

In certain embodiments, the close end of the main shaft 21 is connected to the driving by one or more adapters 27 The nut 15 of component.For example, two adapters 27 are pivoted to the opposite sides of the close end of the main shaft 21 respectively, and with the spiral shell Cap 15 is fixedly connected.The adapter 27 can be any suitable geometry, such as shaped form or linear.The main shaft 21 close end may also connect to the fixing device 17, for example, extended vertically to the screw rod 13 by an abutment 211. The abutment 211 pivotably to the main shaft 21 and with the fixing device 17 at the driver element 11 company of fixation Connect.Correspondingly, each main shaft 21 of the deformable housing assembly 20 can be during relatively described central part with the abutment 211 be The heart is pivoted.Additionally, when the nut 15 is moved up or down along the screw rod 13, corresponding pressure passes through adapter 27 Act on the main shaft 21 so that the central part 10 relatively of the main shaft 21 is pivoted respectively up or down.

The close end 231 of the countershaft 23 may be connected to the 173 (example, by junction point of bottom of the fixing device 17 175).Alternatively, the close end 231 of each countershaft 23 of the deformable housing assembly 20 is mutually connected by junction point 175 Connect.231 pivotable connection of the close end is so that the countershaft 23 central part 10 can be pivoted relatively.

In certain embodiments, the main shaft 21 is connected to countershaft 23 so that the main shaft 21 start (example, lead to Overdrive component) 23 start of corresponding countershaft can be driven.Main shaft 21 and countershaft 23 can be connected directly to one another or be indirectly connected with.Example Such as, the main shaft 21 and countershaft 23 can be connected with each other by adapter 25.The adapter 25 can be a Y-shaped structure, example Such as, two of which upper end is pivoted to the distal portion of the main shaft 21, and bottom is pivoted to the distal portion 233 of the countershaft 23. The Y-connector 25 can increase the stability of the deformable housing assembly 20.Alternatively, the adapter 25 can also be Other suitably connect the shape of the main shaft 21 and countershaft 23, such as linear axis, axis of a curve or other analog.In the present embodiment In, when the central part 10 relatively of the main shaft 21 pivots (example, as described above, driving by the start of nut 15), by even Connecing the active force that device 25 acted on countershaft 23 drives the countershaft also correspondingly to pivot.

In certain embodiments, a cross bar 29 is fixed to the distal portion of the main shaft 21.The cross bar 29 can be along vertical Extend in the direction of the main shaft 21 and/or screw rod 13.The main shaft 21 can be connected to the horizontal stroke by suitable connected mode Bar 29 (example, at the midpoint of the cross bar 29), the connected mode can be pivotally connected.In some cases, the connection Device 25 is connected to the cross bar 29 by the perforate being arranged on the upper end of the y-type structure.The cross bar 29 can be used for solid Determined power device 30 and support component 40.For example, the power set 30 and support component 40 may be connected to the cross bar 29 End, or other any appropriate sites of the cross bar 29.

The element and the central part 10 of the deformable housing assembly 20 can be set to any suitable geometry.Example Such as, as shown in figure 3, the deformable housing assembly 20 and the central part 10 can form a parallelogram or less parallel Tetragon.In the present embodiment, the length (for example, from its close end to its distal attachment points) of the main shaft 21 equal to or substantially Equal to the length (example, from the close end to the distal attachment points) of the countershaft 23, the length of the adapter 25 (example, End is to bottom junction point from it) be equal or approximately equal to the fixing device 17 length (example, from the junction point 175) 211 arrive the junction point.However, the deformable housing assembly 20 and the central part 10 can also be other geometric forms Shape.In some cases, (for example, main shaft 21, countershaft 23, adapter are 25) and described for the element of the deformable housing assembly 20 Central part 10 (13) example, fixing device 17, screw rod can connect to form triangle, square, rectangle, and other polygon shapes Shape.The element can be linear, or wherein one or more elements can be curved, so as to form circle, curved surface Shape or shaped form.

The UAV 100 can be changed by the element of the central part 10 and the deformable housing assembly 20. In some embodiments, it is assumed that the UAV 100 is in first state (for example, take off/landing state), wherein the driver element 11 is to close, and the nut 15 is located at the close end of the bottom near the countershaft 23 of the screw rod 13.In first shape Under state, it is in downward angle between the deformable housing assembly 20 and the central part 10, so that the support component 40 can contact the surface to support the UAV 100.

In order that the UAV 100 is transformed into the second state (for example, state of flight), the driver element 11 can be unlocked To drive the screw rod 13 to be rotated in a first direction (example, clockwise).Then, the nut 15 is towards the driver element 11 move up along the screw rod 13, transmit an active force upwards in the main shaft 21 so as to pass through the adapter 27, So that the main shaft is pivoted up.As described above, main shaft 21 is connected by adapter 25 with countershaft 23, the countershaft also and then to Upper pivot, vertical angle also and then the changing relative to the central part 10 of the deformable housing assembly 20.When the nut 15 extreme higher positions for reaching the screw rod 13, the nut 15 stops movement, so as to maintain the UAV 100 in second shape State, in this second state, the relatively described central part 10 of the deformable housing assembly 20 is in angle upwards.

In the second condition, the inclination angle upwards of the deformable housing assembly 20 increases by 10 underlying space of central part, Therefore, as it was previously stated, second state can increase the functional space of the load below the central part 10.

To make the UAV 100 change to the first state, the driving means 11 can be used to drive the screw rod 13 (example, counterclockwise) is rotated along contrary direction, so that the nut 15 is along away from the driving means 11 Direction moves downward.So as to a downward active force is acted on the main shaft 21 by adapter 27, then passes through connection Device 25 is delivered on the countershaft 23.Then, the relatively described central part 10 of the deformable housing assembly 20 is downward pivots to prop up The UAV 100 is supportted in a surface.

Fig. 5～10 show the deformable UAV 100a of another kind of embodiment.The design principle of the UAV 100a and institute The essentially identical of UAV 100 is stated, the element that the non-here that all UAV 100a include is described in detail can be estimated as and the UAV 100 it is identical.The UAV 100a different from essentially consist in where the UAV 100 fixing device 17 structure and The deploying of major and minor axle 21a, 23a.

In certain embodiments, in pentagon, the pentagon includes one first to fixing device 17a of the UAV 100a Side 171a, one second side 173a, one the 3rd side 175a, one the 4th side 177a, and one the 5th side 179a.The first side 171a can It is connected perpendicular to the second side 173a and with the bottom of the screw rod 17.The 3rd side 175a can be perpendicular to described second Side 173a is simultaneously connected with the upper end of the screw rod 13.Described 4th while 177a can with the described 5th while 179a in obtuse angle, it is described 5th while 179a can with described first while 171a in obtuse angle.An extension 18 is formed with the 3rd side 175a, for example, along Extend parallel to the direction of the first side 171a.The extension 18 includes multiple interfaces (example, card interface).The interface can Connect a load (example, camera or mechanical arm) or a battery for pluggable.

In certain embodiments, the UAV 100a include a pair of deformable housing assemblies, each deformable housing assembly Including an a main shaft 21a and countershaft 23a.The close end of each main shaft 21a can be connected with drive component and fixing device 17a, class It is same as the structure of the UAV 100.The close end 231a of the countershaft 23b may be connected to fixing device 17a, and described The junction point of fixing device 17a is connected with each other.Although the junction point 172 is in figure 6 it is shown that be arranged on first side The intersection of 171a and the second side 173a, but the junction point 172 can also be arranged on other of fixing device 17a On what suitable position.

The main shaft 21a and countershaft 23a can be connected with each other by adapter 25a.With the embodiment class of the UAV 100 Seemingly, the adapter 25a can be pivoted to a cross bar for assembling power set and support component.In the present embodiment, institute The distal portion for stating main shaft 21a is connected to the upper end of the adapter 25a, and distal portion 233a of the countershaft 23a is connected to institute State the bottom 251 of adapter.The bottom 251 can be deviateed the centrage of the adapter 25a and be arranged, and for example, be arranged on The corner of the adapter 25a, so that the distal portion of the countershaft 23a deviates to the side of the distal portion of the main shaft 21a. In some cases, positioned at the side of the main shaft 21a, the close end 231a is arranged on opposite one to distal portion 233a Side, so that the main shaft 21a and the mutual horizontal tilts of countershaft 23a.The main shaft 21a and countershaft 23a can be perpendicular parallel to one Straight plane (example, as illustrated in fig. 7 and fig. 10).It is described to be obliquely installed the vertical dimension reduced between the main shaft 21a and 23a, So that the UAV 100a are more compact.

Similar with the UAV 100, the deformable housing assembly of the UVA 100a and the central part can be formed One parallelogram or similar parallelogram.In the present embodiment, (example, proximally portion is to distal end for the length of the main shaft 21a Measure between portion) length (example is measured between the distal portion and close end) of the countershaft 23a is equal or approximately equal to, The length (example is measured between upper end to bottom) of the adapter 25a is equal or approximately equal to fixing device 17a Length (example, the junction from which with the main shaft 21a are measured between the junction point 172).But, as it was previously stated, its His suitable shape and size are also applicatory.

The mode that the UAV 100a can be analogous to the UAV 100 is changed, and any not doing herein is retouched in detail The conversion embodiment stated can be estimated as identical with the UAV 100.In brief, the drive component of the UAV 100a can start The relatively described central part of the main shaft 21a and countershaft 23a forms (example, shown in Fig. 5, Fig. 7) upwards or downward angle (example, figure Shown in 8-10).The state upwards can be used to the functional space for increasing the load for being connected to the UAV, meanwhile, it is described downward State can be used to provide support for the UAV 100a for resting in a surface.

Figure 11-14 shows the deformable UAV 100b of another embodiment.The design principle of the UAV 100b with it is described UAV 100 is essentially identical, and the element of any UAV 100b not elaborated herein can all be estimated as and the UAV 100 It is identical.The UAV 100b are different from essentially consisting in the structure of fixing device 17b and major and minor where the UAV 100 The deploying of axle 21b, 23b.Especially, each deformable housing assembly of the UAV 100b includes main shaft 21b and two countershafts 23b, so as to form a triangle or similar triangle.

In certain embodiments, fixing device 17b can form an approximate rectangular framework, the approximate rectangular framework bag Include the relative side 175b of a top 171b, a following 173b, two.The close end of each main shaft 21b can be pivoted to described Fixing device 17b, and (example, in abutment 177b) is connected with each other on the top 171b.The such as front description to UAV 100, The close end also can be connected to the drive component being arranged in fixing device 17b by one or more adapters.

The close end 231b of the countershaft 23b can be pivoted to any suitable position of fixing device 17b, example respectively Such as, the base 173b being articulated in fixing device 17b is used to connect between the two-end-point of the two sides 175b Abutment 179b.In certain embodiments, the close end 231b of each two countershafts 23b is symmetrically disposed in described corresponding Main shaft 21b close end two sides being oppositely arranged on.

Each main shaft 21b passes through adapter 25b and cross bar 29 is connected to corresponding a pair of countershafts 23b, the adapter 25b Can be approximate rectangular, the length and width of the adapter 25b is less than the length and width of corresponding fixing device.It is described Adapter 25b may include a base 251b and two parallel relative side 253b.The side 253b can be along perpendicular to described The direction of base 251b upwardly extends.The adapter 25b can be pivoted to the cross bar 29 and through the ring 255b to described The upper end of side 253b.The distal portion of the main shaft 21b can be pivoted to the cross bar 29, for example, be assemblied in by hinge 291 On the cross bar 29 between two ring 255b.Distal portion 233b of the countershaft 23b can be pivoted to the two of the base 251b respectively End.In certain embodiments, distal portion 233b of each two countershafts 23b is symmetrically disposed in corresponding main shaft 21b's On the side that the two of distal portion are oppositely arranged.The length of the base 251b is smaller than the length of the base 173b, so that The interval between distal portion 233b is obtained less than the interval between the close end 231b.Alternately, the length can phase Deng or it is roughly equal so that between the distal portion of the countershaft 23b interval be equal or approximately equal to close end between Interval.

The cross bar 29 can be used to assemble power set and/or support component.In certain embodiments, the cross bar 29 can Parallel to the base 251b of the adapter 25b.Alternatively, the cross bar 29 can be positioned below a reinforcement cross bar 293, described to add Tyrannical bar 293 is parallel with the cross bar 29, and through the two side 253b of the adapter 25b.The end for strengthening cross bar 293 Portion is connected to the power set for being assemblied in 29 liang of opposite ends of the cross bar, so as to strengthening the stability of the power set and propping up Support.

Similar to the UAV 100, the deformable housing assembly of the UAV 100b and the central part can be formed One parallelogram or similar parallelogram.In the present embodiment, the length (example, from its close end to remote of the main shaft 21b Measure between end) length (example is measured from its close end to distal portion) of the countershaft 23b is equal or approximately equal to, The length of the adapter 25b be equal or approximately equal to the fixing device 17 length (example, from junction point 177b to 179b it Between measure).But, as it was previously stated, other suitable shape and size are also applicatory.

The UAV 100b can be deformed in the way of the UAV 100 is similar, any not do herein in detail The content of the relevant deformation for illustrating can all be estimated as identical with the UAV 100.In brief, the power dress of the UAV 100b Put the relatively described central part formation of actuatable described major and minor axle 21b, 23b angle up or down.The state upwards can For increasing the functional space of connected load, the downward state can be used to carry for the UAV 100a rested in surface For supporting (example, as shown in Figure 11,13 and 14).

Any suitable elements of the described variable geometry aircraft in this place can be entered between the suitable elements in other embodiment Row combination is replaced.The element of this place variable geometry aircraft can be elasticity or rigid, and can be using any appropriate Material or the combination of material manufactured.The appropriate material may include metal (example, rustless steel, aluminum), and plastics (gather by example Styrene, polypropylene), timber, composite (example, carbon fibre), and the like.The material of the variable geometry aircraft can Selected based on following one or more factors：Intensity, weight, ruggedness, hardness, cost, operational characteristic, and other materials Attribute.Connection between this place element includes interference fit, gap cooperation, interference fits, and its suitable combination.Pivot joint May include ball bearing, hinge, and other suitable rotation connected modes.It is fixedly connected and can utilizes one or more securing members, Such as nail, screw, screw, clip, bandage, and the like.In certain embodiments, the material and connection can be used to add Stiff stability and the in-flight vibrations of the reduction variable geometry aircraft.

The described system in this place, device and method can be using to various mobile devices.As it was previously stated, described fly Any description of row device all can be applicable to the mobile device.Mobile device of the present invention can be in any suitable environment It is mobile, for example in atmosphere (example, fixed wing airplane or gyroplane), in water (example, steamer or submarine), on the ground (example, motorcycle or train), it is at underground (example, subway), in space (example, space shuttle, satellite or detector) or above-mentioned The combination of environment.The mobile device can relative six-freedom degree (example, three translation freedoms and three rotations in above-mentioned environment Turn degree of freedom) move freely through.Alternately, the movement of the mobile device can be limited in one or more free dimensions, example Such as, according to given route, track or guiding etc..The movement can be by any suitable drive mechanism start, such as engine or motor. The drive mechanism of the mobile device can pass through any suitable energy source and drive, for example, electric energy, magnetic energy, solar energy, wind energy, Gravitation energy, chemical energy, nuclear energy, or the above-mentioned energy is any appropriately combined.

In some cases, the mobile device can be a vehicles.In addition to aircraft, any suitable traffic Instrument may include marine communication means, space vehicle or ground traffic toolses.This place system, device and method can use Rise or land in a surface (for example, plane, such as seabed under water in any；Extraterrestrial surface, such as planet).The traffic Instrument can be motor driven, such as in the air, on the water surface or in water, on space, ground or subsurface motor driven.Motor driven is handed over Logical instrument can adopt propulsion system, for example including one or more engines, motor, wheel, axle, Magnetic Materials, rotor, propeller, Blade, nozzle, and the propulsion system of above-mentioned several combinations being arbitrarily adapted to.

Aircraft of the present invention may include Fixed Wing AirVehicle (for example, aircraft, glider), rotor craft (example, Helicopter, gyroplane), while the aircraft with fixed-wing and rotor, or both there is no fixed-wing and there is no the flight of rotor Device (for example, blimp, fire balloon).The aircraft can in the environment six-freedom degree (example, three translation freedoms And three rotary freedoms) move freely.Alternately, the movement of the aircraft can be limited in one or more freedom Degree, such as according to specified route or track.The drive mechanism that the movement arbitrarily can be adapted to drives, such as engine or electricity Machine.In certain embodiments, the aircraft can be motor driven aircraft.Motor driven aircraft can be advanced as previously described System is driven.The propulsion system can be used to so that the aircraft flies away from a surface, lands in a surface, maintains which current Position and/or guiding (example, hovering), change are oriented to, and/or change position.

For example, the propulsion system may include one or more rotors (" rotor " has been translated into " rotor " above).Often One rotor may include to be fixed to one or more blades (example, two, three, four, or more leaves of central shaft Piece).The blade can relatively it is described it is substantially symmetrical about its central axis ground or asymmetricly arrange.The blade can be with the rotation of the central shaft Then rotate, the rotation of the central shaft can be driven by any suitable motor or engine.The blade can clockwise or the inverse time Pin rotates.The rotor can be a rotor (it is the rotor with the horizontal surfaces of revolution that may refer to), a vertically-guided rotor (it is the rotor with the vertical surfaces of revolution that may refer to), or it is tilted in the intermediate angle horizontally and vertically between position.One In a little embodiments, horizontally-guided rotor is rotatable with the lifting aircraft.The rotor of vertically-guided is rotatable providing thrust To the aircraft.The rotor of the intermediate angle being directed between the horizontal and vertical position is rotatable with while providing lifting Power and thrust are to the aircraft.One or more rotors can be used for offer one and offset the moment of torsion produced by other rotor wing rotations Torque.

The aircraft can by user's remotely control or by aircraft/or interior user locally control.In some realities Apply in example, the aircraft is UAV.The UAV can be unmanned manipulation.The aircraft can be by people or automatic control system Controlled (example, a computerized control system), or other any suitable combination control modes.The aircraft can be to automatically control Or semiautomatic control robot, for example have a robot of artificial intelligence.

The aircraft can have any suitable size or scale.In certain embodiments, the aircraft can be tool The size or size in someone's manipulation space.Alternately, the size or scale of the aircraft is also smaller than described with people behaviour The aircraft in control space.The aircraft can be can suitably people lifted or carrying aircraft size or scale.Alternately, institute State the size or scale of aircraft also greater than it is described can suitably people lifted or carrying aircraft size or scale.In some feelings Under condition, the aircraft can be no more than about with maximum：2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m, or 10m.The maximum chi It is very little can be greater than or equal to about：2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m, or 10m.For example, the relative rotor of the aircraft The distance between rotating shaft may be less than or equal to about：2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m, or 10m.Alternately, the phase The distance between rotating shaft to rotor can be greater than or equal to about：2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m, or 10m.

In certain embodiments, the aircraft can have less than 100cm x 100cm x 100cm, less than 50cm x The volume of 50cm x 30cm.The cumulative volume of the aircraft may be less than or equal to about：1cm³、2cm³、5cm³、10cm³、20cm³、 30cm³、40cm³、50cm³、60cm³、70cm³、80cm³、90cm³、100cm³、150cm³、200cm³、300cm³、500cm³、 750cm³、1000cm³、5000cm³、10,000cm³、100,000cm³、1m³, or 10m³.On the contrary, the totality of the aircraft Product can also be greater than or equal to about 1cm³、2cm³、5cm³、10cm³、20cm³、30cm³、40cm³、50cm³、60cm³、70cm³、 80cm³、90cm³、100cm³、150cm³、200cm³、300cm³、500cm³、750cm³、1000cm³、5000cm³、10,000cm³、 100,000cm³、1m³, or 10m³。

In certain embodiments, the aircraft floor space (being referred to as the cross-sectional area of the aircraft) is less than rear etc. In about：32,000cm²、20,000cm²、10,000cm²、1,000cm²、500cm²、100cm²、50cm²、10cm², or 5cm².Phase Instead, the floor space of the aircraft can also be more than rear equal to about：32,000cm²、20,000cm²、10,000cm²、1, 000cm²、500cm²、100cm²、50cm²、10cm², or 5cm²。

In some cases, the aircraft weight can be less than 1000kg.The weight of the aircraft is smaller than or waits In about：1000kg、750kg、500kg、200kg、150kg、100kg、80kg、70kg、60kg、50kg、45kg、40kg、35kg、 30kg、25kg、20kg、15kg、12kg、10kg、9kg、8kg、7kg、6kg、5kg、4kg、3kg、2kg、1kg、0.5kg、 0.1kg, 0.05kg, or 0.01kg.On the contrary, the weight of the aircraft can be greater than or equal to about：1000kg、750kg、 500kg、200kg、150kg、100kg、80kg、70kg、60kg、50kg、45kg、40kg、35kg、30kg、25kg、20kg、 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg, or 0.01kg。

In certain embodiments, the aircraft is smaller than the load that the aircraft is carried.The load may include one Load and/or carrier, further will be described in detail below.In certain embodiments, the weight of the aircraft with it is described The weight rate of load can be more than, less than or equal to about 1:1.Alternatively, the weight ratio of the weight of the carrier and the load Can be more than, less than, or equal to 1:1.The weight of the aircraft and the weight rate of the load can be arranged as required to as little In or be equal to：1:2、1:3、1:4、1:5、1:10, it is even more little.On the contrary, the weight of the weight of the aircraft and the load Amount ratio is also greater than or equal to 2:1、3:1、4:1、5:1、10:1, even more greatly.

In certain embodiments, the aircraft can have low energy consumption characteristic.For example, the aircraft can be used and is less than About：5W/h, 4W/h, 3W/h, 2W/h, 1W/h, or it is lower.In some cases, the carrier of the aircraft also possesses low energy consumption Characteristic.For example, the carrier energy consumption can be below about：5W/h, 4W/h, 3W/h, 2W/h, 1W/h, or it is lower.Alternatively, it is described to fly The load of row device also has low energy consumption characteristic, for example less than about：5W/h, 4W/h, 3W/h, 2W/h, 1W/h, or it is lower.

In certain embodiments, the aircraft can carry load.The load may include passenger, goods, equipment, instrument Device, and the like in one or more.The load can be contained in a cavity.The cavity can be independently of the appearance Receive the cavity of the aircraft, or to accommodate a part for the cavity of the aircraft.Alternately, the load may be housed in In one cavity, the aircraft does not need accommodating chamber.Alternately, the load it is part or all of be accommodated in it is described In cavity.The load can be rigidly fixed on the aircraft.Alternatively, the load can be moved relative to the aircraft (example is translated relative to the aircraft or is rotated).

In certain embodiments, the load can be used to perform certain operations or function.Alternately, the load can be with It is performed for an operation or the load of function, also referred to as feature load.For example, the load may include one or more prisons Control the sensor of one or more targets.The load may include any suitable sensor, for example, video capturing device (example, Camera), audio frequency acquisition device (example, parabola mike), infrared imaging device, or ultraviolet imaging device.The sensing Device can provide static sensing data (example, photo) or dynamic sensing data (example, video).In certain embodiments, the sensing Device provides the sensing data of the sensing target of the load.Alternately or its combination, it is described load may include for provide one One or more emitters of the signal of individual or multiple targets.Any suitable emitter all may be utilized, for example, light source or Sound source.In certain embodiments, the load includes one or more transceivers, for example, with the module away from the aircraft The transceiver of communication.Alternatively, the load can be interacted with the environment or target.For example, the load may include to manipulate One instrument, instrument or mechanism of the object, for example, mechanical arm.

Alternatively, the load may include a carrier.The carrier can be used to carry the load, and the load can be led to Cross the carrier directly (example, aircraft described in directly contact) or indirectly (for example, not contacting the aircraft) be connected to it is described Aircraft.On the contrary, the load can not need carrier and be assemblied on the aircraft.The load can be with the carrier one It is body formed.Alternately, the load is connected to the carrier pluggablely.In certain embodiments, the load may include One or more load elements, as described above, one or more of load elements can relatively described aircraft and/or carrier shifting It is dynamic.

The carrier can be integrally formed with the aircraft.Alternately, the carrier pluggable the is connected to described flying Row device.The carrier can be directly or indirectly attached to the aircraft.The carrier can for it is described load provide support (example, Carry at least partly load weight).The carrier may include that can stablize and/or be oriented to the movement of the load one is suitable Assembling structure (example, head).In certain embodiments, the carrier can be used to control the load relative to the aircraft State (example, position and/or guiding).For example, the carrier can relative to the aircraft movement (example, it is one-dimensional, two-dimentional or three-dimensional Translation freedoms and/or one-dimensional, two-dimentional or three-dimensional rotation degree of freedom) so that the load can be regardless of the aircraft A mobile and relative suitable reference framework maintains its position and/or guiding.The reference framework can be a fixation with reference to frame Frame (example, surrounding enviroment).Alternately, the reference framework can be to move reference framework (example, the aircraft, load Target).

In certain embodiments, the carrier can allow the load to move relative to the carrier and/or aircraft.It is described Movement can be relative dimensional degree of freedom translation (example, along one, two or three axle) or relative dimensional freedom degree rotating (example, along one-dimensional, bidimensional or three-dimensional), or the combination of above-mentioned any suitable.

In some cases, the carrier may include a carrier frame apparatus and a carrier drive component.The carrier frame Device can provide structural support for the load.The carrier frame apparatus may include independent carrier frame element, some of which Element can be moved relative to other element.The carrier drive component may include each separate carrier frame element movement of energy start One or more drivers (for example, motor).The driver can allow most carrier frame element simultaneously to move, or together Single carrier frame element is only allowed to move in one time.The movement of the carrier frame element can cause the corresponding shifting of the load It is dynamic.For example, the carrier drive component can one or more carrier frame elements of start with respect to one or more rotary shafts (example, rolling Moving axis, pitch axis, offset axis) rotation.The rotation of one or more of carrier frame elements can cause the relatively described flight of load Device is rotated relative to one or more rotary shafts.Alternately or its combination, it is described load drive component can start one or many Individual carrier frame element is translated along one or more translation shafts, so that described load relative to the aircraft along one Or multiple corresponding axle translations.

In certain embodiments, the aircraft, carrier and load is fixed with reference to frame (example, surrounding enviroment) relative to one And/or movement each other can be by a terminal control.The terminal can be remote from the aircraft, carrier and/or load A remote control.The terminal can be arranged or is fixed in a support platform.Alternately, the terminal can be hand-held Formula or Wearable.For example, the terminal may include a smart mobile phone, panel computer, notebook computer, computer, glasses, handss Set, the helmet, mike or its suitable combination.The terminal may include a user interface, such as keyboard, mouse, stick, touch Touch screen or display.Any suitable user input can be used for and the terminal interaction, for example, be manually entered instruction, sound control System, gesture control or control of azimuth (example, by movement, is positioned or inclines the terminal).

The terminal can be used for any suitable state for controlling the aircraft, carrier and/or load.For example, it is described Terminal can be used to controlling the aircraft, carrier and/or load relative to one fix with reference to frame and/or relative to each other between position Put and/or direction.In certain embodiments, the terminal can be used for each independence for controlling the aircraft, carrier and/or load Element, such as drive component of described carrier, the sensor of the load, or the emitter of the load.The terminal can be wrapped Include for aircraft, carrier or load in one or more radio communication devices for communicating.

The terminal is may include for watching the one of the information of the aircraft, carrier and/or load suitable display list Unit.For example, the terminal can be used to showing the position of the aircraft, carrier and/or load, rate of translation, translational acceleration, Guiding, angular velocity, angular acceleration or the combined information being arbitrarily adapted to.In certain embodiments, the terminal can show described negative The information for providing is carried, the information (images of example, camera or other video capturing device records) that such as one load is provided.

Figure 15 shows that an aircraft 200 of the embodiment of the present invention includes a carrier 202 and a load 204.Alternately, The load 204 can not need carrier 202 and be assemblied on the aircraft 200.The aircraft 200 may include actuating unit 206, a sensing system 208, and a transceiver 210.As it was previously stated, the actuating unit 206 may include rotor, propeller, leaf One or more in piece, engine, motor, wheel group, axle, Magnet or nozzle.The aircraft may include one or more, two Or it is multiple, three or more, four or multiple actuating units.The actuating unit can be identical type.Alternately, it is described One or more actuating units can be different types of actuating unit.In certain embodiments, the actuating unit 206 can be caused The aircraft 200 vertically takes off from a surface or vertically lands in a surface, does any without the aircraft Move horizontally (example, it is not necessary to slide on runway).Alternatively, the actuating unit 206 can be used to being operable so that described Aircraft 200 hovers in specified position and orientation overhead.

For example, the aircraft 200 may include the rotor of multiple horizontally-guideds that lifting force and thrust are provided for aircraft. The rotor of the plurality of horizontally-guided can by start with provide take off vertically, vertical landing, hovering ability is to the aircraft 200.In certain embodiments, the rotor of one or more horizontally-guideds can turn clockwise, while one or more levels are revolved The wing can rotate counterclockwise.For example, the quantity of the rotor for turning clockwise can be equal to the rotor of rotate counterclockwise.Each horizontally-guided The rotating speed of rotor can be independently varied to control lifting force and/or the thrust that the rotor is produced, so as to adjust the aircraft 200 dimensional orientation, speed, and/or acceleration (example, relative to D translation degree of freedom and three-dimensional rotation degree of freedom).

The sensing system 208 may include one or more sensors, and one or more of sensors can sense described The dimensional orientation of aircraft 200, speed and/or acceleration (example, relative dimensional translation freedoms and three-dimensional rotation degree of freedom).Institute Stating one or more sensors may include global positioning system (GPS) sensor, movable sensor, inertial sensor, closely Sensor or image sensor.The data sensed by the sensing system 28 can be used to controlling the dimensional orientation of the aircraft, Speed, and/or direction (example, with a suitable processing unit as described below and/or control module).Alternately, the sense Examining system 208 can be used for the information for providing the surrounding enviroment with regard to the aircraft, and such as weather conditions and potential obstacle connect Closely, position of the position of geographical feature, artificial structure and the like.

The transceiver 210 can be communicated by wireless signal 216 with the terminal 212 with transceiver 214.At some In embodiment, the communication includes two-way communication, the offer control instruction of the terminal 212 to the aircraft 200, carrier 202, And load 204 in one or more, from the aircraft 200, carrier 202, and load 204 in one or more receive letter Breath (example, the position of the aircraft, carrier or load and/or mobile message；The data of the load sensing, for example, load phase The image data of machine sensing).In some cases, the control instruction from the terminal may include the aircraft, carrier and/ Or relative position, movement, start or the control for loading.For example, the control instruction can change the aircraft position and/or (example by controlling the actuating unit 206), or causes the load relative to aircraft movement (example, by control in direction The carrier is 202).The load be can control from the control instruction of the terminal, for example, control camera or other image capturings (example, obtains either statically or dynamically image, push away near or pushes away remote camera lens, is turned on and off, switches image mode, changes for the operation of device Image analytic degree, focusing change the depth of field, change time of exposure, change visual angle or the visual field).In some cases, fly from described The communication information of row device, carrier and/or load may include the information (example, from sensing system from one or more sensors 204) 208 load.The communication may include information (example, the GPS sensings sensed by one or more different types of sensors Device, movable sensor, inertial sensor, Proximity Sensor or image sensor).Described information can be with regard to the flight The information in the orientation (example, position, direction) of device, carrier and/or load, mobile or acceleration.The information from load May include the data of the load sensing or the state of the load for being sensed.It is described that the terminal 212 is provided and transmitted Control instruction can be used to control the state of one or more in the aircraft 200, carrier 202 or load 204.Selectively Or in combination, the carrier 202 and load 204 also can respectively include the transceivers that communicate with the terminal 212 respectively, so that Obtain the terminal separately to be communicated and be controlled with the aircraft 200, carrier 202 and load 204.

Module diagrams for control the system 300 of aircraft of the Figure 16 for the embodiment of the present invention.The system 300 can The system, device and method with reference to described any suitable embodiment is used.The system 300 may include a sensing mould Block 302, a processing unit 304, a non-volatile computer-readable medium 306, control module 308 and communication module 310.

The sensing module 302 can be adopted and can gather the various of the information that is related to the aircraft in a variety of different ways The sensor of type.Various types of sensor can sense the signal of different types of signal or separate sources.For example, institute Stating sensor may include inertial sensor, GPS sensor, Proximity Sensor (example, laser sensor), or vision/image is passed Sensor (example, camera).The sensing module 302 is connected to the processing unit 304 for including multiple processors controllablely. In some embodiments, the sensing module is connected to a transport module 312 (example, a Wi-Fi image transmission modules) controllablely, The transport module can be used to directly transmit sensing data to a suitable external device (ED) or system.For example, the transport module The image sensed by 312 cameras that can be used to transmitting the sensing module 302 is to a remote terminal.

The processing unit 304 may include one or more processors, a such as programmable processor (example, a centre Reason device (CPU).The processing unit 304 is connected to a non-volatile computer-readable medium 306 controllablely.So non-volatile Property computer-readable medium 306 can store logic, code and/or can be performed by the processing unit 304 one or more step Rapid programming.The non-volatile computer-readable medium may include that (example, removable are situated between one or more memory element The external memory storage of matter or similar SD card or random access memory (RAM)).In certain embodiments, from the sensing module 302 Data can be directly delivered to and be stored in the memory element of the non-volatile computer-readable medium 306.It is described non- The memory element of nonvolatile computer readable medium 306 can store logic, code and/or can be performed by the processing unit 304 This place any suitable embodiment method programming.For example, the processing unit 304 can be used for execute instruction So that the one or more processors of the processing unit 304 analyze the sensing data that the sensing module is produced.The storage Unit can store the sensing data of the sensing module that will be analyzed by the processing unit 304.In certain embodiments, institute The memory element for stating non-volatile computer-readable medium 306 can be used to store the result of the generation of the processing unit 304.

In certain embodiments, the processing unit 304 can be used to be connected to a control module 308, the control module For controlling the state of the aircraft.For example, the control module 308 can be used for the engine for controlling the aircraft Structure is adjusting the orientation, speed and/or the acceleration of mobile object 6 DOF degree of freedom.Selectively or its combination, institute State control module 308 can control carrier, load or sensing module state in one or more.

The processing unit 304 is connected to a communication module 310 controllablely, the communication module 310 be used for transmission and/ Or receive the data for coming from one or more external device (ED)s (example, a terminal, display device, or other remote controllers).Appoint What suitable communication mode can be adopted, such as wire communication or radio communication.For example, the communication module 310 can utilize local Net (LAN), wide area network (WAN), infrared ray, radio frequency, WiFi, point-to-point (P2P) network, communication network, cloud communication and other classes Like one or more in communication network.Alternatively, trunk desk, such as tower, satellite or mobile workstation etc. may be utilized.Channel radio Letter may be based on distance be alternatively with apart from unrelated.In certain embodiments, communication needs visually can also not needing visually. The communication module 310 can be transmitted and/or be received produced by sensing system institute sensing data, the processing unit 304 Result, predetermined control data, one in the user instruction for coming self terminal or remote controllers, and its class likelihood data or It is multiple.

The element of the system 300 can deploying in any form.For example, one or more elements of the system 300 can Positioned at the aircraft, carrier, load, terminal, sensing system or with it is above-mentioned in one or more communicated it is additional On external equipment.In addition, although shown in Figure 16 is single processing unit 304 and readable Jie of single non-volatile computer Matter 306, but those skilled in the art should it is contemplated that this is not limited to, and the system 300 may include it is many Individual processor unit and/or non-volatile computer-readable medium.In certain embodiments, the plurality of processor unit and/ Or one or more in non-volatile computer-readable medium can be located at different places, such as in mobile device, carrier, bear Load, terminal, sensing module with it is above-mentioned in one or more additional external equipments for being communicated on, it is or above-mentioned suitable Combination.Any process and/or store function for example performed by the system 300 can occur in place mentioned above One or more.

Presently preferred embodiments of the present invention has been described herein, it is distinctly understood that this place for those skilled in the art Described embodiment is only for illustrating.Those skilled in the art can carry out more various changes with the embodiment Shape, change are replaced, all without departing from the present invention.It is understood that the various alternative of the embodiments of the invention are all Can be used for realizing the present invention.The claims below defines the scope of the present invention, method in the scope of the said claims and Structure and its equivalent can all be included within the scope of the invention.

Claims

1. a kind of variable geometry aircraft, it is characterised in that：The variable geometry aircraft includes：

Central part；

At least two deformable housing assemblies being separately positioned on the central part, each deformable housing assembly include It is connected to the close end and distal portion of the central part；

Drive component, for driving at least two deformables housing assembly to change between the first state and a second state；

For moving multiple power set of the unmanned plane, the power set are arranged at least all right one way or the other deformation frame group On part,

Wherein, in the first state, it is described at least it is all right one way or the other deformation frame modular support described in variable geometry aircraft in a surface, And the distal portion is below the central part；In second state, the distal portion is above the central part.

2. variable geometry aircraft as claimed in claim 1, it is characterised in that the variable geometry aircraft is unmanned vehicle.

3. variable geometry aircraft as claimed in claim 1, it is characterised in that each described deformable housing assembly includes At least countershaft that main shaft and the main axis parallel are arranged, the main shaft and at least a countershaft is pivoted to the central part respectively, Wherein described main shaft and an at least countershaft are connected with each other, so that drive is described when the drive component drives the main shaft An at least countershaft start.

4. variable geometry aircraft as claimed in claim 3, it is characterised in that the main shaft includes being connected to the central part Close end and the distal portion away from the central part, the distal portion of the deformable housing assembly is the distal portion of the main shaft.

5. variable geometry aircraft as claimed in claim 3, it is characterised in that each described deformable housing assembly also includes The cross bar of the main shaft and the countershaft is respectively connecting to, the power set are arranged on the cross bar.

6. variable geometry aircraft as claimed in claim 5, it is characterised in that the least significant end of the cross bar is the housing assembly Distal portion.

7. variable geometry aircraft as claimed in claim 6, it is characterised in that the cross bar is approximately perpendicular to the main shaft.

8. variable geometry aircraft as claimed in claim 1 a, it is characterised in that part for each deformable housing assembly It is connected with the drive component.

9. variable geometry aircraft as claimed in claim 8, it is characterised in that：The drive component includes a screw rod and a spiral shell Mother, each described deformable housing assembly are connected with the nut.

10. variable geometry aircraft as claimed in claim 1, it is characterised in that：Each power set include a rotor.

11. variable geometry aircrafts as claimed in claim 10, it is characterised in that：The relatively described central part level of the rotor to Arrange.

12. variable geometry aircrafts as claimed in claim 1, it is characterised in that：The variable geometry aircraft further includes one Receptor, the receptor are used to receive the user instruction for being used to controlling the drive component and multiple power set.

13. variable geometry aircrafts as claimed in claim 12, it is characterised in that：It is long-range whole that the user instruction is transferred from one End.

14. variable geometry aircrafts as claimed in claim 1, it is characterised in that：Each deformable housing assembly includes one Support component, the support component are used to support the variable geometry aircraft to rest against a surface；

And/or, in the first state, at least all right one way or the other relatively described central part of housing assembly that deforms is in downward angle, In second state, at least all right one way or the other relatively described central part of housing assembly that deforms is in angle upwards；

And/or, the central part includes flight control system, and the flight control system is used to provide instruction to control described moving Power apparatus.

15. variable geometry aircrafts as claimed in claim 1, it is characterised in that：Load is provided with below the central part.

16. variable geometry aircrafts as claimed in claim 15, it is characterised in that：The load being capable of relatively described central part shifting It is dynamic；

And/or, the load can relatively described central part around one or more axis of rotation.

17. variable geometry aircrafts as claimed in claim 15, it is characterised in that：The load is by a carrier supported.

18. variable geometry aircrafts as claimed in claim 17, it is characterised in that：The load is detachably connectable to the load Body；

And/or, the carrier is detachably connectable to the central part.

19. variable geometry aircrafts as claimed in claim 15, it is characterised in that：Second state is state of flight, described Second state increases loaded functional space.

20. variable geometry aircrafts as claimed in claim 19, it is characterised in that：The load is image sensor, described negative The functional space of load is the coverage of the image sensor.

A kind of 21. methods of control variable geometry aircraft, it is characterised in that methods described includes：

Variable geometry aircraft described in any one of claim 1 to 20 is provided；

The power set are manipulated with the movement variable geometry aircraft；

Controlling the drive component drives the deformable housing assembly to change between the first state and the second state.

22. methods as claimed in claim 21, it is characterised in that the first state and the second state provide the deformable It is in different vertical angles between housing assembly.

23. methods as claimed in claim 21, it is characterised in that respond one or more being connected with the aircraft communication The signal of sensor, to control at least all right one way or the other deformation housing assembly described in the drive component conversion.

24. methods as claimed in claim 23, it is characterised in that the signal designation：The UAV will land or described UAV is flown in the air；The first state：When described in the signal designation, UAV will land, at least all right one way or the other texturing machine Variable geometry aircraft described in frame modular support rests against a surface；Second state：When UAV described in the signal designation is in sky Middle flight；

And/or, one or more of sensors are arranged on the fuselage；

And/or, the signal of one or more of sensors includes the position of the aircraft, speed, acceleration；

And/or, one or more of sensors include it is following in one or more：GPS sensor, motion sensor, away from From sensor, inertial sensor and image sensor.